Control device for omnidirectional running of Mecanum wheels

Abstract

The invention relates to the technical field of robot, in particular to a control device for omnidirectional running of Mecanum wheels. The control device includes a Mecanum wheel robot body and a control module. The control module includes a data acquisition module, a data analysis module and a running controller. The data acquisition module includes a plurality of sensors. The data analysis module includes a PID regulator and a fuzzy inference module. The fuzzy inference module is used for fuzzifying the signal of the data acquisition module and outputting fuzzy quantity. The PID regulator defuzzifies the fuzzy quantity and transmits the fuzzy quantity to the running controller. The running controller makes a drive motor on the Mecanum wheel omnidirectional mobile robot body move. In theinvention, a fuzzy PID control technology is adopted to combine a fuzzy algorithm with a traditional PID controller. Based on the advantages of simple control, good performance and high reliability of the conventional PID controller, the values of the parameters of the PID controller are adjusted, and thus, the applicability and flexibility of the controller are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control device for omnidirectional running of mecanum wheels. Background technique [0002] In recent years, wheeled robots have developed rapidly. When the robot works in a scene with a small space and many obstacles, the robot needs to be able to move in all directions. The so-called all-round movement means that the mobile platform has three degrees of freedom in the plane of its movement, that is, while keeping the posture of the car body unchanged, it can realize movements such as front and rear, left and right, and in-situ rotation, so as to achieve the goal of moving in the same direction. Motion in any direction within the plane. When the robot needs to complete mobile tasks in a small space and achieve high-precision positioning, the omnidirectional mobile robot can play its own characteristics of omnidirectional movement, shuttle in limited application scenarios, and ...

AI Technical Summary

Problems solved by technology

[0003] However, the current robots all use electromagnetic wires to guide the operation of the robot. It is difficult to achieve omnidirectional operation, and it is also difficult to ensure the stability of the robot operation. Moreover, most of the current robots use traditional PID controllers. Traditional PID control The controller includes three parameters: proportional unit (P), integral unit (I) and differential unit (D)

However, once these three parameters are determined, they cannot be adjusted. In some special scenarios, the system parameters of the controlled object are difficult to grasp. It is difficult for the traditional PID controller to obtain the best expected response to the controlled object in this time-varying state.

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